CN105750156B - A kind of precise automatic point glue equipment and method - Google Patents
A kind of precise automatic point glue equipment and method Download PDFInfo
- Publication number
- CN105750156B CN105750156B CN201610256606.0A CN201610256606A CN105750156B CN 105750156 B CN105750156 B CN 105750156B CN 201610256606 A CN201610256606 A CN 201610256606A CN 105750156 B CN105750156 B CN 105750156B
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- China
- Prior art keywords
- guide rail
- glue
- dispensing
- control
- distance
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
Abstract
The invention proposes a kind of precise automatic point glue equipment and methods, belong to dispenser field, including Three-axis drive unit, dispenser main unit, vision positioning unit and control unit.Three-axis drive unit provides power, the precision positioning that dispenser main unit is dripped for realizing dispensing, vision positioning unit for realizing glue for whole device, and control unit realizes the control of precise automatic point glue equipment.Its characteristic be using Three dimensional steerable bar control Three-axis drive unit, will dispensing part position be presented in camera fields of view rapidly, improve the degree of automation of point glue equipment；The first drop glue drop standardization of proposition on the basis of installation error compensation, using the precision positioning dispensing of realizing of Robot Vision device, improves dispensing efficiency for compensating precise automatic point glue equipment bring installation error when replacing dispensing nozzle needle.
Description
Technical field
The invention belongs to glue sticking technical field, it is related to a kind of precise automatic point glue equipment and method.
Background technique
Gluing connection technology is key technique most important in Electronic Manufacturing industry, and technical process is simple, extensively
Applied in chip package and integrated circuit equipment.But as the integrated level of accurate device improves, dispensing amount, position for dispensing glue
Precision and the degree of automation of precision adhesive dispensing device cannot increasingly be met the requirements.Current multiple research institutions have carried out correlation
It studies, discloses a kind of dispenser localization method in the patent of Patent No. 201310186242.3, use zero-in module
Zero-in signal arrange in pairs or groups to demarcate to dispenser, this spot gluing equipment requires zero-in module when replacing syringe needle
It re-scales one time, therefore efficiency is lower.It is solved in the patent of Patent No. 201420618658.0 using constant temperature glue solution container
The problem of glue temperature changes avoids plastic emitting by intelligent control moulding pressure using the concentration of concentration sensor detection glue
Excessive or very few problem is measured, dispensing quality is improved.
There are also manual gluing process, and the degree of automation is lower, and the operation level of production efficiency and worker have very big
Relationship, especially when gluing device is the micro devices for being difficult to position, glue amount and glue drop consistency all it is difficult to ensure that.
Summary of the invention
The invention proposes a kind of precise automatic point glue equipment and methods.Precise automatic point glue equipment introduces three axis
Driving and Three dimensional steerable bar 17, improve the degree of automation of spot gluing equipment；Point glue equipment is when replacing nozzle needle 13, using vision
Positioning drips standardization with first drop glue, can Fast Calibration, realize precision positioning dispensing.
Technical solution of the present invention:
A kind of precise automatic point glue equipment include Three-axis drive unit, dispenser main unit, vision positioning unit and
Control unit.
Three-axis drive unit provides power for precise automatic point glue equipment, including X guide rail 1, Y guide rail 2, Z guide rail 3, Z are led
Mechanical arm 8 and Three dimensional steerable bar 17 on rail 3；Three dimensional steerable bar 17 is connected by serial ports and the industrial personal computer 6 of control unit, three-dimensional behaviour
The swing and rotation of vertical pole 17 carry out speed change linkage control to X guide rail 1, Y guide rail 2 and Z guide rail 3, and Three dimensional steerable bar 17 is equipped with
The button 18 for controlling dispensing owner body unit, for starting and stopping plastic emitting, to improve oneself of precise automatic point glue equipment
Dynamicization degree.
Dispenser main unit is made of dispenser 5, storage vat 11, nozzle needle 13 and air compressor 4；From air compressor
4 air pressures come out enter dispenser 5, arrive storage vat 11 through dispenser 5, realize the ejection of glue drop；Storage vat 11 passes through storage vat
Mounting plate 12 is fixed on 8 on the mechanical arm of Z guide rail 3, the storage and plastic emitting of storage vat 11 and the cooperation realization glue of nozzle needle 13；Wherein
Dispenser 5 is connected by I/O interface and the industrial personal computer 6 of control unit.
The precision positioning that vision positioning unit drips for realizing glue, by light source controller, camera 10 and 9 groups of distance measuring sensor
At；Light source controller is connected by serial ports and the industrial personal computer 6 of control unit, for controlling intensity of illumination；Camera 10 is fixed on Z and leads
On the mechanical arm 8 of rail 3, the movement of camera 10 is realized by Three-axis drive unit, for using first drop glue drop calibration, this to be for dispensing glue
Home position precision, 13 real-time tracking dispensing position of nozzle needle, distance measuring sensor 9 are fixed on 8 on the mechanical arm of Z guide rail 3, for surveying
Measure the distance of 13 vertical direction of nozzle needle.
Control unit is realized precise automatic point glue equipment and is controlled, and is made of industrial personal computer 6 and interpersonal interactive interface 7.
Bring installation error when the precise automatic point glue equipment replaces nozzle needle using head drop glue drop standardization to compensate,
Realizing of Robot Vision precise glue dispensing is utilized simultaneously, avoids using mechanical structure and demarcates the complicated processes of dispensing position, is improved
Dispensing efficiency.
Detailed description of the invention
Fig. 1 is precise automatic point glue equipment structural schematic diagram of the invention.
In figure: 1X guide rail；2Y guide rail；3Z guide rail；4 air compressors；5 dispensers；6 industrial personal computers；7 human-computer interaction interfaces；8
Mechanical arm；9 distance measuring sensors；10 cameras；11 storage vats；12 storage vat mounting plates；13 nozzle needles；14 parts；15 substrates；16 amounts
Block；17 Three dimensional steerable bars；18 buttons.
Specific embodiment
Below in conjunction with attached drawing and technical solution, a specific embodiment of the invention is further illustrated.
For precise automatic point glue equipment, specific implementation of the invention is described below with reference to technical solution and attached drawing and is walked
It is rapid:
Step 1: fixed substrate 15, in the visual field of camera, gauge block 16 is disposed thereon；Mobile Z guide rail to nozzle needle 13 contacts
The upper surface of gauge block 16 on to substrate, and record the distance H on distance measuring sensor 9 to gauge block 161, and surveyed with distance measuring sensor 9
Measure distance measuring sensor 9 and 15 distance H of substrate at this time2。
Step 2: being compensated when replacing nozzle needle 13 to installation error, glue is dripped by head and drips standardization to accurate automatic
Change point glue equipment calibration, detailed process is:
1) control Z guide rail 3 moves upwards a distance H3；
2) 1 move distance D of X guide rail is controlledX, 2 componental movement distance D of Y guide railY, nozzle needle 13 is moved to X guide rail 1, Y guide rail 2
The top of corresponding 15 location point of substrate of 10 image center of camera before moving；
3) control Z guide rail 3 moves downward distance H3+H2-H1+ 100 μm, 100 μm when being dispensing between nozzle 13 and substrate 15
Away from, press the button 18 on Three dimensional steerable bar 17, point out a drop glue drop；
4) control Z axis 3 moves upwards certain distance, and control X guide rail 1, Y guide rail 2 distinguish move distance-DX,-DY, pass through phase
Machine 10 acquires glue and drips image；
5) it handles collected glue and drips image, find out the center point coordinate (x, y) of glue drop, if the glue that camera 10 acquires drips figure
The coordinate of inconocenter point is (x0, y0), then x-x0, y-y0Installation error offset on X, Y-direction when replacing nozzle needle 13 respectively,
The dispensing location position of precise automatic point glue equipment is completed at this time.
Step 3: the part 14 to glue sticking is put on substrate 15, and it is moved in 10 visual field of camera, adjusts Z guide rail 3
Movement, the image of 14 dispensing position of part can be clearly indicated on human-computer interaction interface 7.
Step 4: wanting part position for dispensing glue by the part image determination in the image display box on human-computer interaction interface 7
It sets, X guide rail 1, Y guide rail 2 move respective distance at this time, form dispensing path, drive nozzle needle 13 to be moved to part 14 and want dispensing position
The top set；
It is moved step 5: controlling Z guide rail 3 using distance measuring sensor 9, makes nozzle needle 13 100 μm at a distance from part 14, press
Button 18 on lower Three dimensional steerable bar 17 realizes precise glue dispensing of the precise automatic dispenser 5 on part 14；
It is moved upwards step 6: controlling Z guide rail 3 using Three dimensional steerable bar 17, the part 14 after removing dispensing, and makes device
Return to original state.Prepare the work of dispensing next time.
Claims (1)
1. a kind of realization with precise automatic point glue equipment method for dispensing glue, which is characterized in that the precise automatic point mucilage binding
It sets including Three-axis drive unit, dispenser main unit, vision positioning unit and control unit；
Three-axis drive unit provides machine on power, including X guide rail, Y guide rail, Z guide rail, Z guide rail for precise automatic point glue equipment
Tool arm and Three dimensional steerable bar；Three dimensional steerable bar is connected by serial ports and the industrial personal computer of control unit, and Three dimensional steerable bar is swung and rotation
Turn to carry out X guide rail, Y guide rail and Z guide rail speed change linkage control, Three dimensional steerable bar is equipped with pressing for control dispensing owner body unit
Button, for starting and stopping plastic emitting, to improve the degree of automation of precise automatic point glue equipment；
Dispenser main unit is made of dispenser, storage vat, nozzle needle and air pressure pump；The air pressure come out from air pressure pump
The ejection of glue drop is realized through dispenser to storage vat into dispenser；Storage vat is fixed on Z guide rail by storage vat mounting plate
Mechanical arm on, storage vat and nozzle needle cooperation realize glue storage and plastic emitting；Wherein dispenser is single by I/O interface and control
The industrial personal computer connection of member；
The precision positioning that vision positioning unit drips for realizing glue is made of light source controller, camera and distance measuring sensor；Light source
Controller is connected by serial ports and the industrial personal computer of control unit, for controlling intensity of illumination；Camera is fixed on the mechanical arm of Z guide rail
On, the movement of camera is realized by Three-axis drive unit, for demarcating this home position precision for dispensing glue, spray using first drop glue drop
Needle real-time tracking dispensing position, distance measuring sensor are fixed on the mechanical arm of Z guide rail, for measure nozzle needle vertical direction away from
From；
Control unit is realized precise automatic point glue equipment and is controlled, and is made of industrial personal computer and interpersonal interactive interface；
Steps are as follows:
Step 1: fixed substrate is in the visual field of camera, gauge block is disposed thereon；Mobile Z guide rail to nozzle needle touches to be measured on substrate
The upper surface of block, and record the distance H on distance measuring sensor to gauge block1, and distance measuring sensor at this time is measured with distance measuring sensor
With substrate distance H2；
Step 2: being compensated when replacing nozzle needle to installation error, glue is dripped by head and drips standardization to precise automatic dispensing
Device normalization, detailed process are:
1) control Z guide rail moves upwards a distance H3；
2) X guide rail move distance D is controlledX, Y guide rail componental movement distance DY, nozzle needle is moved to X guide rail, Y guide rail moves preceding camera
The top of the corresponding substrate position point of image center；
3) control Z guide rail moves downward distance H3+H2-H1+ 100 μm, 100 μm of nozzles when being dispensing and substrate spacing press three-dimensional
Button on control stick points out drop glue drop；
4) control Z axis moves upwards certain distance, and control X guide rail, Y guide rail distinguish move distance-DX,-DY, acquired by camera
Glue drips image；
5) it handles collected glue and drips image, find out the center point coordinate (x, y) of glue drop, if the glue of camera acquisition drips picture centre
The coordinate of point is (x0, y0), then x-x0, y-y0Installation error offset on X, Y-direction when replacing nozzle needle respectively is accurate at this time
The dispensing location position for automating point glue equipment is completed；
Step 3: the part to glue sticking is placed on substrate, and it is moved in camera fields of view, adjusts the movement of Z guide rail, allow part
The image clearly of dispensing position is shown on human-computer interaction interface；
Step 4: part position for dispensing glue is wanted by the part image determination in the image display box on human-computer interaction interface, this
When X guide rail, Y guide rail move respective distance, form dispensing path, nozzle needle driven to be moved to the top that part wants dispensing position；
Step 5: being moved using distance measuring sensor control Z guide rail, makes nozzle needle 100 μm at a distance from part, press Three dimensional steerable
Button on bar realizes precise glue dispensing of the precise automatic dispenser on part；
Step 6: moving upwards using Three dimensional steerable bar control Z guide rail, the part after removing dispensing, and return to device initially
State；Prepare the work of dispensing next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256606.0A CN105750156B (en) | 2016-04-22 | 2016-04-22 | A kind of precise automatic point glue equipment and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256606.0A CN105750156B (en) | 2016-04-22 | 2016-04-22 | A kind of precise automatic point glue equipment and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105750156A CN105750156A (en) | 2016-07-13 |
| CN105750156B true CN105750156B (en) | 2019-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610256606.0A Expired - Fee Related CN105750156B (en) | 2016-04-22 | 2016-04-22 | A kind of precise automatic point glue equipment and method |
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| CN (1) | CN105750156B (en) |
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| CN106541574A (en) * | 2016-11-23 | 2017-03-29 | 哈尔滨工业大学 | It is a kind of to be based on robotization point gum machine printing equipment and Method of printing |
| CN106733390B (en) * | 2016-12-14 | 2022-12-20 | 黄采笋 | Glue case and beat machine of gluing |
| CN106950917B (en) * | 2017-01-23 | 2019-10-22 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN106799339A (en) * | 2017-03-15 | 2017-06-06 | 镇江力点锚固有限公司 | A kind of AB glue points adhesive dispenser |
| CN108097536A (en) * | 2018-01-24 | 2018-06-01 | 东莞杰仕德智能科技有限公司 | Display box coating technique and equipment |
| CN108355913A (en) * | 2018-03-02 | 2018-08-03 | 深圳市圭华自动化设备有限公司 | A kind of three-in-one dispenser |
| CN108453009B (en) * | 2018-03-26 | 2019-10-22 | 东莞高伟光学电子有限公司 | A kind of method and system of dynamic control HTCC backboard portion epoxy resin glue amount |
| CN108876859B (en) * | 2018-04-28 | 2022-06-07 | 苏州赛腾精密电子股份有限公司 | Calibration method, device, equipment and medium of dispenser |
| CN110538778A (en) * | 2018-05-28 | 2019-12-06 | 江西省晶能半导体有限公司 | fluorescent powder coating system and method |
| CN109590144A (en) * | 2018-11-20 | 2019-04-09 | 苏州席正通信科技有限公司 | A kind of clean method of dispensing needle head |
| CN109513574A (en) * | 2018-12-20 | 2019-03-26 | 苏州席正通信科技有限公司 | A kind of dispensing method of dispenser |
| CN110575942B (en) * | 2019-08-27 | 2021-06-04 | 中国联合网络通信集团有限公司 | Internet-based dispensing device and method |
| CN111054587B (en) * | 2019-12-26 | 2021-07-13 | 北京航天控制仪器研究所 | Cambered surface glue dispensing device and method |
| CN111804520B (en) * | 2020-09-08 | 2020-12-22 | 歌尔光学科技有限公司 | Gluing system and gluing method thereof |
| CN113900465B (en) * | 2021-12-07 | 2022-02-22 | 深圳市领志光机电自动化系统有限公司 | Intelligent positioning visual dispensing system for precise products |
| CN114653534A (en) * | 2022-02-28 | 2022-06-24 | 安徽华远装备科技有限责任公司 | Rubber coating head adjustment mechanism |
| CN114700225B (en) * | 2022-04-14 | 2023-11-17 | 广州得尔塔影像技术有限公司 | Adhesive dispensing device |
| CN114923408B (en) * | 2022-04-29 | 2024-01-30 | 沈阳工业大学 | Ultra-micro adhesive drop shape parameter detection device and method based on machine vision |
| CN114798316B (en) * | 2022-06-27 | 2022-09-13 | 常州铭赛机器人科技股份有限公司 | Control method for keeping constant temperature of glue solution |
| CN115283206A (en) * | 2022-08-24 | 2022-11-04 | 陇芯微(西安)电子科技有限公司 | Glue amount detection device of glue dispenser |
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| CN105750156A (en) | 2016-07-13 |
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